Apparatus and methods for stabilization and vibration reduction

ABSTRACT

The present invention provides an apparatus for stabilizing an imaging device and methods of using the same for a wide variety of applications including photography, video, and filming. Also provided are unmanned vehicles including aerial vehicles that contain the apparatus disclosed herein.

CROSS-REFERENCE

This application is a continuation application of InternationalApplication No. PCT/CN2013/084857, filed on Oct. 8, 2013, the content ofwhich is hereby incorporated in its entirety.

BACKGROUND OF THE INVENTION

For many years, both amateur and professional photographers andvideographers have struggled with blurred images due to instability ofthe camera mounting, motion by the user, motion and vibrationtransferred to the camera from a mobile transport, or some combinationof these issues.

Currently, there exists primarily four methods of vibration dampeningcommonly employed in photography and videography to reduce the effectsof vibration on the picture: software stabilization, lens stabilization,sensor stabilization, and overall shooting equipment stabilization.

Lens stabilization and sensor stabilization are now widely applied inmany consumer digital cameras. The general principle of lensstabilization is to eliminate the shake on the lens by controllinghorizontal displacement or rotation of a certain lens or some lenses;and sensor stabilization is intended to offset the vibration by enablinga photosensitive sensor to translate or rotate. Lens stabilization andsensor stabilization are both implemented within the shooting equipment,requiring minimal volume. However, due to structural limitations andlimited travel range of the movement (including translation androtation) of the lens or sensor, vibration with large amplitude or athigh frequency is still difficult to eliminate completely, particularlywhen carrying the shooting equipment or mounting video equipment on amoving vehicle.

The effectiveness of software stabilization is limited. An extremelylarge amount of computation is required in the shake elimination processfor video, often resulting in only a limited beneficial effect.

Overall, methods applied to shooting equipment stabilization mainlyperform stabilization for the shooting equipment on three rotation axes,with a large rotation range and reasonably quick response. This cansubstantially overcome the drawbacks in lens stabilization and sensorstabilization. However, as stabilization is performed for the entire setof (video) equipment, the structure is usually quite large, making itinconvenient to carry or use, and requires very large amounts of energy(batteries) to drive the stabilizing equipment, making it inconvenient,impractical and relatively expensive for most commercial and personalapplications.

SUMMARY OF THE INVENTION

The present invention provides an alternative design for performingeffective stabilization for a wide variety of applications including butnot limited to still photo and video imaging. The present invention,embodies, in part, an apparatus and method of performing stabilizationof an imaging device by, e.g., partitioning the optical unit from thenon-optical unit of the imaging device. The present invention cansubstantially reduce the mass volume of the stabilizing device necessaryto achieve such stabilization. This disclosed approach of stabilizationi) reduces size and/or weight, ii) augments existing stabilizationmethods and/or, iii) facilitates miniaturization of the entire shootingequipment construct and any external stabilization structures usedtherewith.

In one aspect, the present invention provides an apparatus forstabilizing an imaging device comprising an optical unit and anon-optical unit, said optical unit and non-optical unit constitutingthe entire image device, said apparatus comprising: a frame assemblyrotatably coupled to the optical unit of the imaging device, withoutsupporting the entire imaging device as a whole, wherein the frameassembly configured to permit the optical unit to rotate about at leasta first rotational axis and a second rotational axis, the optical unitcomprising at least a lens and a photosensor that is optically coupledto the lens; and a motor assembly coupled to the frame assembly, themotor assembly configured to directly drive the frame assembly so as topermit the optical unit to rotate about at least the first rotationalaxis or the second rotational axis.

In some embodiments the non-optical unit of the imaging device is notmechanically coupled to the apparatus. In some embodiments the opticalunit and the non-optical unit are electrically coupled. In someembodiments the optical unit and the non-optical unit are movablerelative to each other.

In some embodiments, the non-optical unit of the imaging device is notmechanically coupled optical unit of the imaging device. In someembodiments, the optical unit and the non-optical unit communicate witheach other wirelessly.

In some embodiments the optical unit of the imaging device furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In still other embodiments, the optical unit of the imaging devicefurther comprises a weight adapted to provide stability for the opticalunit. In still other embodiments, the weight comprises a battery.

In some embodiments, the non-optical unit does not include a lens or aphotosensor. In other embodiments, the non-optical unit of the imagingdevice comprises at least one of a positional sensor, storage medium,battery, motors, circuitry, power supply, processor, or housing.

In some embodiments, at least one of the first rotational axis and thesecond rotational axis corresponds to a pitch, roll or yaw axis of theoptical unit. In other embodiments, the frame assembly is furtherconfigured to permit the optical unit to rotate about a third rotationalaxis. In some embodiments, the third rotational axis corresponds to atleast one of a pitch, roll, or yaw axis of the optical unit.

Still further, in some embodiments, the apparatus further comprises oneor more positional sensors, wherein at least one of the one or morepositional sensors is configured to detect state information associatedwith the optical unit. In addition the apparatus further comprises acontroller for generating one or more motor signals based on the stateinformation associated with the optical unit. In some embodiments, thestate information comprises translational or rotational movementinformation or positional information.

In still other embodiments, at least one of the positional sensors isconfigured to detect state information associated with the non-opticalunit.

In still further embodiments, at least one of the one or more positionalsensors is configured to measure movement associated with at least apitch, roll, or yaw axis of the optical unit. In addition, at least oneof the one or more positional sensors comprises an inertial sensor.

In any of the preceding embodiments, the apparatus is configured to becoupled to a movable object. In addition, the apparatus is configured toreduce relatively more movement experienced by the optical unit causedby the movable object than the amount of movement experienced by thenon-optical unit. In some embodiments, the apparatus for stabilizing animaging device comprising an optical unit and a non-optical unit isconfigured to be handheld.

Still further, in any of the preceding embodiments, the frame assemblycomprises a first stage connected to and supporting the optical unit,and a second stage movable relative to the first stage and the opticalunit about the first rotational axis. In addition, the frame assemblycan further comprise a third stage movable relative to the second stageabout the second rotational axis.

Provided herein is an apparatus for stabilizing at least a portion of animaging device that comprises an optical unit and a non-optical unit,said apparatus comprising a frame assembly having a volume that is lessthan that of a frame assembly required to support the entire imagingdevice having the optical unit and the non-optical unit, wherein theframe assembly is configured to support the optical unit of the imagingdevice, wherein the frame assembly is configured to permit rotation ofthe optical unit about at least a first rotational axis and a secondrotational axis, and wherein the optical unit comprises at least a lensand a photosensor that is optically coupled to the lens; and wherein themotor assembly is configured to drive the frame assembly so as to permitrotation of the optical unit about at least the first rotational axis orthe second rotational axis.

In some embodiments the non-optical unit of the imaging device is notmechanically coupled to the apparatus. In some embodiments the opticalunit and the non-optical unit are electrically coupled. In someembodiments the optical unit and the non-optical unit are movablerelative to each other.

In some embodiments, the non-optical unit of the imaging device is notmechanically coupled optical unit of the imaging device. In someembodiments, the optical unit and the non-optical unit communicate witheach other wirelessly.

In some embodiments the optical unit of the imaging device furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In still other embodiments, the optical unit of the imaging devicefurther comprises a weight adapted to provide stability for the opticalunit. In still other embodiments, the weight comprises a battery.

In some embodiments, the non-optical unit does not include a lens or aphotosensor. In other embodiments, the non-optical unit of the imagingdevice comprises at least one of a positional sensor, storage medium,battery, motors, circuitry, power supply, processor, or housing.

In some embodiments, at least one of the first rotational axis and thesecond rotational axis corresponds to a pitch, roll or yaw axis of theoptical unit. In other embodiments, the frame assembly is furtherconfigured to permit the optical unit to rotate about a third rotationalaxis. In some embodiments, the third rotational axis corresponds to atleast one of a pitch, roll, or yaw axis of the optical unit.

Still further, in some embodiments, the apparatus further comprises oneor more positional sensors, wherein at least one of the one or morepositional sensors is configured to detect state information associatedwith the optical unit. In addition the apparatus further comprises acontroller for generating one or more motor signals based on the stateinformation associated with the optical unit. In some embodiments, thestate information comprises translational or rotational movementinformation or positional information.

In still other embodiments, at least one of the positional sensors isconfigured to detect state information associated with the non-opticalunit.

In still further embodiments, at least one of the one or more positionalsensors is configured to measure movement associated with at least apitch, roll, or yaw axis of the optical unit. In addition, at least oneof the one or more positional sensors comprises an inertial sensor.

In any of the preceding embodiments, the apparatus is configured to becoupled to a movable object. In addition, the apparatus is configured toreduce relatively more movement experienced by the optical unit causedby the movable object than the amount of movement experienced by thenon-optical unit. In some embodiments, the apparatus for stabilizing atleast a portion of an imaging device comprising an optical unit and anon-optical unit is configured to be handheld.

Still further, in any of the preceding embodiments, the frame assemblycomprises a first stage connected to and supporting the optical unit,and a second stage movable relative to the first stage and the opticalunit about the first rotational axis. In addition, the frame assemblycan further comprise a third stage movable relative to the second stageabout the second rotational axis.

In another aspect, the present invention provides an apparatus forstabilizing at least a portion of an imaging device that comprises anoptical unit and a non-optical unit, said optical unit and non-opticalunit constituting the entire image device, said apparatus comprising: aframe assembly supporting the optical unit of the imaging device,wherein the frame assembly is configured to permit rotation of theoptical unit about at least a first rotational axis and a secondrotational axis, and wherein the optical unit comprises at least a lensand a photosensor that is optically coupled to the lens; and a motorassembly operably connected to the frame assembly, wherein the motorassembly is configured to drive the frame assembly so as to permitrotation of the optical unit about at least the first rotational axis orthe second rotational axis, and wherein the motor assembly consumes aminimum amount of energy that is less than that required to drive aframe assembly supporting the entire imaging device.

In some embodiments the non-optical unit of the imaging device is notmechanically coupled to the apparatus. In some embodiments the opticalunit and the non-optical unit are electrically coupled. In someembodiments the optical unit and the non-optical unit are movablerelative to each other.

In some embodiments, the non-optical unit of the imaging device is notmechanically coupled optical unit of the imaging device. In someembodiments, the optical unit and the non-optical unit communicate witheach other wirelessly.

In some embodiments the optical unit of the imaging device furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In still other embodiments, the optical unit of the imaging devicefurther comprises a weight adapted to provide stability for the opticalunit. In still other embodiments, the weight comprises a battery.

In some embodiments, the non-optical unit does not include a lens or aphotosensor. In other embodiments, the non-optical unit of the imagingdevice comprises at least one of a positional sensor, storage medium,battery, motors, circuitry, power supply, processor, or housing.

In some embodiments, at least one of the first rotational axis and thesecond rotational axis corresponds to a pitch, roll or yaw axis of theoptical unit. In other embodiments, the frame assembly is furtherconfigured to permit the optical unit to rotate about a third rotationalaxis. In some embodiments, the third rotational axis corresponds to atleast one of a pitch, roll, or yaw axis of the optical unit.

Still further, in some embodiments, the apparatus further comprises oneor more positional sensors, wherein at least one of the one or morepositional sensors is configured to detect state information associatedwith the optical unit. In addition the apparatus further comprises acontroller for generating one or more motor signals based on the stateinformation associated with the optical unit. In some embodiments, thestate information comprises translational or rotational movementinformation or positional information.

In still other embodiments, at least one of the positional sensors isconfigured to detect state information associated with the non-opticalunit.

In still further embodiments, at least one of the one or more positionalsensors is configured to measure movement associated with at least apitch, roll, or yaw axis of the optical unit. In addition, at least oneof the one or more positional sensors comprises an inertial sensor.

In some of the preceding embodiments, the apparatus is configured to becoupled to a movable object. In addition, the apparatus is configured toreduce relatively more movement experienced by the optical unit causedby the movable object than the amount of movement experienced by thenon-optical unit. In some embodiments, the apparatus for stabilizing atleast a portion of an imaging device comprising an optical unit and anon-optical unit is configured to be handheld.

Still further, in some of the preceding embodiments, the frame assemblycomprises a first stage connected to and supporting the optical unit,and a second stage movable relative to the first stage and the opticalunit about the first rotational axis. In addition, the frame assemblycan further comprise a third stage movable relative to the second stageabout the second rotational axis.

In some embodiments of the apparatus, said energy is less than theamount of energy required to drive the frame assembly when the entireimaging device apparatus as a whole is supported by the frame assembly.

In some embodiments wherein an apparatus for stabilizing at least aportion of an imaging device that comprises an optical unit and anon-optical unit, and wherein the motor assembly consumes a minimumamount of energy that is less than that required to drive a frameassembly supporting the entire imaging device, said energy is less thanthe amount of energy required to drive the frame assembly when theentire imaging device apparatus as a whole is supported by the frameassembly.

In yet another aspect, the present invention provides an imaging devicecomprising an optical unit which comprises at least a lens and aphotosensor that is optically coupled to the lens; and a non-opticalunit that is electrically coupled to the optical unit, wherein theoptical unit is movable relative to the non-optical unit via actuationof a frame assembly coupled to said optical unit.

In some embodiments, the non-optical unit is not mechanically coupled tothe frame assembly.

In some embodiments, the optical unit further comprises at least one ofa filter, positional sensor, storage medium, battery, zooming motor,circuitry, power supply, processor, or housing. In other embodiments,the optical unit further comprises a weight adapted to provide stabilityfor the optical unit. In some embodiments the weight comprises abattery.

In some embodiments, the non-optical unit does not include a lens or aphotosensor. In other embodiments, the non-optical unit of the imagingdevice comprises at least one of a positional sensor, storage medium,battery, motors, circuitry, power supply, processor, or housing.

In some embodiments of the imaging device, the optical unit is movableabout a first rotational axis and a second rotational axis via theactuation of the frame assembly and the optical unit is movable about athird rotational axis via the actuation of the frame assembly.

In other embodiments of the imaging device, the optical unit is movableabout a third rotational axis via the actuation of the frame assemblyand the third rotational axis corresponds to at least one of a pitch,roll, or yaw axis of the optical unit.

In still further embodiments of the imaging device, the stateinformation associated with the optical unit is detectable by one ormore positional sensors and said state information associated with theoptical unit is used to generate one or more motor signals that drivethe actuation of the frame assembly. Said state information comprisestranslational or rotational movement information or positionalinformation. In addition, state information associated with thenon-optical unit is detectable by one or more positional sensors.

In still further embodiments of the imaging device, at least one of theone or more positional sensors is configured to measure movementassociated with at least a pitch, roll, or yaw axis of the optical unit,and at least one of the one or more positional sensors comprises aninertial sensor.

In some embodiments, the frame assembly of the imaging device isconfigured to be coupled to a movable object.

In some embodiments of the imaging device, the optical unit and thenon-optical unit are contained within a single housing. In otherembodiments, the optical unit and the non-optical unit are not containedwithin a single housing.

In still other embodiments of the imaging device, the optical unit andthe non-optical unit are both utilized to capture and store an image.

Provided herein is an aerial vehicle comprising a vehicle body, andattached thereto, an apparatus disclosed herein for stabilizing at leasta portion of an imaging device. The apparatus attached to the vehiclecomprises a frame assembly rotatably coupled to an optical unit of theimaging device, without supporting the entire imaging device as a whole,wherein the frame assembly is configured to permit the optical unit torotate about at least a first rotational axis and a second rotationalaxis. Where desired, the optical unit comprises at least a lens and aphotosensor that is optically coupled to the lens. The apparatustypically comprises a motor assembly coupled to the frame assembly,wherein the motor assembly is configured to directly drive the frameassembly so as to permit the optical unit to rotate about at least thefirst rotational axis or the second rotational axis.

In a separate aspect, the present invention provides an aerial vehiclecomprising a vehicle body, and attached thereto, an apparatus disclosedherein for stabilizing at least a portion of an imaging device. Theapparatus attached to the vehicle comprises a frame assembly having avolume that is less than that of a frame assembly required to supportthe entire imagining device with the optical and non-optical units,wherein the frame assembly is configured to permit the optical unit torotate about at least a first rotational axis and a second rotationalaxis. Where desired, the optical unit comprises at least a lens and aphotosensor that is optically coupled to the lens. The apparatustypically comprises a motor assembly coupled to the frame assembly,wherein the motor assembly is configured to directly or indirectly drivethe frame assembly so as to permit the optical unit to rotate about atleast the first rotational axis or the second rotational axis.

In still yet another embodiment, the present invention provides anaerial vehicle comprising a vehicle body, and attached thereto, anapparatus disclosed herein for stabilizing at least a portion of animaging device. The apparatus attached to the vehicle comprises a frameassembly supporting the optical unit of the imaging device, wherein theframe assembly is configured to permit rotation of the optical unitabout at least a first rotational axis and a second rotational axis, andwherein the optical unit comprises at least a lens and a photosensorthat is optically coupled to the lens. The apparatus typically comprisesa motor assembly operably connected to the frame assembly, wherein themotor assembly is configured to drive the frame assembly so as to permitrotation of the optical unit about at least the first rotational axis orthe second rotational axis, and wherein the motor assembly consumes aminimum amount of energy that is less than that required to drive aframe assembly supporting the entire imaging device.

In some embodiments of the aerial vehicle, said vehicle comprises anengine configured to drive movement of said aerial vehicle. In someembodiments, the engine is configured within said vehicle body.

In some embodiments, the aerial vehicle comprises one or more bladesconfigured to rotate to provide lift to the unmanned aerial vehicle.

In some embodiments, the aerial vehicle is an unmanned aerial vehiclecapable of controlled flight without requiring an occupant of the aerialvehicle.

In some embodiments of the aerial vehicle, the non-optical unit issupported by the vehicle body without being supported by the frameassembly.

Provided herein is a method of stabilizing at least a portion of animaging device that comprises an optical unit and a non-optical unit,said method comprising: (1) supporting the optical unit of the imagingdevice using a frame assembly without supporting the entire imagingdevice as a whole, wherein the frame assembly is configured to permitrotation of the optical unit about at least a first rotational axis anda second rotational axis, and wherein the optical unit comprises atleast a lens and a photosensor that is optically coupled to the lens;and (2) driving the frame assembly using a motor assembly operablyconnected to the frame assembly, thereby causing rotation of the opticalunit about at least the first rotational axis or the second rotationalaxis.

In some embodiments of the stabilizing method, the optical unit and thenon-optical unit are electrically coupled to each other.

In some embodiments of the stabilizing method, the optical unit furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In other embodiments of the method, the optical unit further comprises aweight adapted to provide stability for the optical unit. In someembodiments, the weight comprises a battery. In still furtherembodiments, the battery is configured to provide power necessary foroperation of an aerial vehicle or the imaging device.

In some embodiments of the stabilizing method, the non-optical unit doesnot include a lens or a photosensor. In other embodiments of thestabilizing method, the non-optical unit comprises at least one of apositional sensor, storage medium, power supply, battery, motors,circuitry, display, processor, or housing.

In still other embodiments of the stabilizing method, at least one ofthe first rotational axis and the second rotational axis corresponds toa pitch, roll, or yaw axis of the optical unit. In other embodiments,the method further comprises driving the frame assembly using the motorassembly, thereby causing rotation of the optical unit about a thirdrotational axis. Still further the method wherein the third rotationalaxis corresponds to at least one of a pitch, roll or yaw axis of theoptical unit.

In yet other embodiments of the stabilizing method, said methodcomprises receiving a signal from at least one positional sensor forindicative of an inclination angle of the non-optical unit and/or theoptical unit in order to correct an inclination angle of the opticalunit. In still other embodiments, said method further comprises reducingmore movement experienced by the optical unit than the amount ofmovement experienced by the non-optical unit. In some embodiments of themethod, said movement comprises at least one of vibration, shock, sway,tremor, shaking, or jerking movement.

In any of the preceding embodiments of the stabilizing method, saidmethod further comprises capturing and storing an image using both theoptical unit and non-optical unit.

Provided herein is a method of stabilizing at least a portion of animaging device that comprises an optical unit and a non-optical unit,said optical unit and non-optical unit constituting the entire imagingdevice, said method comprising: supporting the optical unit of theimaging device using a frame assembly, the frame assembly having avolume that is less than that of a frame assembly required to supportthe entire imaging device having the optical unit and the non-opticalunit, wherein the frame assembly is configured to permit rotation of theoptical unit about at least a first rotational axis and a secondrotational axis, and wherein the optical unit comprises at least a lensand a photosensor that is optically coupled to the lens; and driving theframe assembly using a motor assembly operably connected to the frameassembly, thereby causing rotation of the optical unit about at leastthe first rotational axis or the second rotational axis.

In some embodiments of the stabilizing method, the optical unit and thenon-optical unit are electrically coupled to each other.

In some embodiments of the stabilizing method, the optical unit furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In other embodiments of the method, the optical unit further comprises aweight adapted to provide stability for the optical unit. In someembodiments, the weight comprises a battery. In still furtherembodiments, the battery is configured to provide power necessary foroperation of an aerial vehicle or the imaging device.

In some embodiments of the stabilizing method, the non-optical unit doesnot include a lens or a photosensor. In other embodiments of thestabilizing method, the non-optical unit comprises at least one of apositional sensor, storage medium, power supply, battery, motors,circuitry, display, processor, or housing.

In still other embodiments of the stabilizing method, at least one ofthe first rotational axis and the second rotational axis corresponds toa pitch, roll, or yaw axis of the optical unit. In other embodiments,the method further comprises driving the frame assembly using the motorassembly, thereby causing rotation of the optical unit about a thirdrotational axis. Still further the method wherein the third rotationalaxis corresponds to at least one of a pitch, roll or yaw axis of theoptical unit.

In yet other embodiments of the stabilizing method, said methodcomprises receiving a signal from at least one positional sensor forindicative of an inclination angle of the non-optical unit and/or theoptical unit in order to correct an inclination angle of the opticalunit. In still other embodiments, said method further comprises reducingmore movement experienced by the optical unit than the amount ofmovement experienced by the non-optical unit. In some embodiments of themethod, said movement comprises at least one of vibration, shock, sway,tremor, shaking, or jerking movement.

In any of the preceding embodiments of the stabilizing method, saidmethod further comprises capturing and storing an image using both theoptical unit and non-optical unit.

Provided herein is a method of stabilizing at least a portion of animaging device that comprises an optical unit and a non-optical unit,said method comprising: supporting the optical unit of the imagingdevice using a frame assembly, wherein the frame assembly is configuredto permit rotation of the optical unit about at least a first rotationalaxis and a second rotational axis, and wherein the optical unitcomprises at least a lens and a photosensor that is optically coupled tothe lens; and driving the frame assembly using a motor assembly operablyconnected to the frame assembly, the motor assembly consuming a minimumamount of energy that is less than that required to drive a frameassembly supporting the entire imaging device, thereby causing rotationof the optical unit about at least the first rotational axis or thesecond rotational axis.

In some embodiments of the stabilizing method, the optical unit and thenon-optical unit are electrically coupled to each other.

In some embodiments of the stabilizing method, the optical unit furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In other embodiments of the method, the optical unit further comprises aweight adapted to provide stability for the optical unit. In someembodiments, the weight comprises a battery. In still furtherembodiments, the battery is configured to provide power necessary foroperation of an aerial vehicle or the imaging device.

In some embodiments of the stabilizing method, the non-optical unit doesnot include a lens or a photosensor. In other embodiments of thestabilizing method, the non-optical unit comprises at least one of apositional sensor, storage medium, power supply, battery, motors,circuitry, display, processor, or housing.

In still other embodiments of the stabilizing method, at least one ofthe first rotational axis and the second rotational axis corresponds toa pitch, roll, or yaw axis of the optical unit. In other embodiments,the method further comprises driving the frame assembly using the motorassembly, thereby causing rotation of the optical unit about a thirdrotational axis. Still further the method wherein the third rotationalaxis corresponds to at least one of a pitch, roll or yaw axis of theoptical unit.

In yet other embodiments of the stabilizing method, said methodcomprises receiving a signal from at least one positional sensor forindicative of an inclination angle of the non-optical unit and/or theoptical unit in order to correct an inclination angle of the opticalunit. In still other embodiments, said method further comprises reducingmore movement experienced by the optical unit than the amount ofmovement experienced by the non-optical unit. In some embodiments of themethod, said movement comprises at least one of vibration, shock, sway,tremor, shaking, or jerking movement.

In any of the preceding embodiments of the stabilizing method, saidmethod further comprises capturing and storing an image using both theoptical unit and non-optical unit.

Provided herein is a method of stabilizing at least a portion of animaging device, said method comprising providing an optical unitcomprising at least a lens and a photosensor that is optically coupledto the lens; electrically coupling a non-optical unit to the opticalunit; and moving the optical unit relative to the non-optical unit viaactuation of a frame assembly coupled to said optical unit.

In some embodiments of the stabilizing method, the optical unit furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In other embodiments of the method, the optical unit further comprises aweight adapted to provide stability for the optical unit. In someembodiments, the weight comprises a battery. In still furtherembodiments, the battery is configured to provide power necessary foroperation of an aerial vehicle or the imaging device.

In some embodiments of the stabilizing method, the non-optical unit doesnot include a lens or a photosensor. In other embodiments of thestabilizing method, the non-optical unit comprises at least one of apositional sensor, storage medium, power supply, battery, motors,circuitry, display, processor, or housing.

In still other embodiments of the stabilizing method, at least one ofthe first rotational axis and the second rotational axis corresponds toa pitch, roll, or yaw axis of the optical unit. In other embodiments,the method further comprises driving the frame assembly using the motorassembly, thereby causing rotation of the optical unit about a thirdrotational axis. Still further the method wherein the third rotationalaxis corresponds to at least one of a pitch, roll or yaw axis of theoptical unit.

In yet other embodiments of the stabilizing method, said methodcomprises receiving a signal from at least one positional sensor forindicative of an inclination angle of the non-optical unit and/or theoptical unit in order to correct an inclination angle of the opticalunit. In still other embodiments, said method further comprises reducingmore movement experienced by the optical unit than the amount ofmovement experienced by the non-optical unit. In some embodiments of themethod, said movement comprises at least one of vibration, shock, sway,tremor, shaking, or jerking movement.

In any of the preceding embodiments of the stabilizing method, saidmethod further comprises capturing and storing an image using both theoptical unit and non-optical unit.

Provided herein is an aerial vehicle comprising a vehicle body and aframe assembly connected to said vehicle body, wherein said frameassembly comprises a battery attached thereto and said frame assembly isconfigured to hold and stabilize an imaging device having an opticalunit, and wherein the battery is attached to the assembly at a locationseparate from that of the imaging device, and wherein the battery isconfigured to provide power for operation of the aerial vehicle or theimaging device.

In some embodiments, the battery is configured to provide power foroperation of the aerial vehicle. In some embodiments the battery has aweight that provides stability to said optical unit of said imagingdevice.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1A is an illustrative isometric view of an exemplary stabilizingapparatus assembly.

FIGS. 1B-1E are illustrative arrangements of optical and non-opticalassemblies of imaging devices.

FIG. 2 is an illustrative isometric view of an exemplary 3-axisstabilizing apparatus assembly

FIG. 3 is an illustrative isometric view of an exemplary non-orthogonal3-axis stabilizing apparatus assembly with an optical unit.

FIG. 4 is a side view of FIG. 2 illustrating an exemplary orthogonal3-axis stabilizing apparatus assembly with an optical unit.

FIG. 5A is an illustrative ISO view of an exemplary aerial vehicle witha 2-axis stabilizing apparatus assembly comprising an imaging devicemounted on the frame.

FIG. 5B is an illustrative ISO view of an exemplary aerial exemplaryvehicle with a 3-axis stabilizing apparatus assembly supporting theoptical unit an imaging device mounted on the frame.

FIG. 5C is an illustrative ISO view of an exemplary aerial vehicle witha 3-axis stabilizing apparatus assembly supporting an entire imagingdevice mounted on the frame.

FIG. 6 is an illustrative view of an exemplary 2-axis stabilizing frameassembly an entire imaging device.

DETAILED DESCRIPTION OF THE INVENTION

Apparatus and methods have been developed to reduce the effects ofvibration and allow for the size reduction of stabilization equipmentfor photography and videography, by separating the components of theimaging device, reducing the relative mass of all components involved,and focusing the majority of the stabilization efforts near the opticscomponents of the imaging device.

The apparatus incorporates the use of positional sensors wherein apositional sensor shall mean: motion sensors (accelerometers) androtation sensors (gyroscopes) or other inertial sensors to continuouslycalculate via dead reckoning the position, orientation, and velocity(direction and speed of movement) of a moving object without the needfor external references”; e.g.: “state information”. Positional sensorsshall also include sensors that use external references such ascompasses, and GPS (global positioning system) sensors, and the like.

In addition, the apparatus incorporates controllers for generating oneor more motor signals for driving the movement of the frame assembly ofthe apparatus, based on the state information generated by the sensors.

An apparatus for stabilizing at least a portion of an imaging device hasbeen developed. The imaging device comprises an optical unit and anon-optical unit. The apparatus comprises a frame assembly rotatablycoupled to the optical unit of the imaging device, wherein said frame isconfigured to permit the optical unit to rotate about at least a firstrotational axis and a second rotational axis, the optical unitcomprising at least a lens and a photosensor. Said apparatus comprisinga frame assembly having a volume that is less than that of a frameassembly required to support the entire imaging device having theoptical unit and the non-optical unit. In one embodiment, said frameassembly will have a volume that is no more than one half of that of aframe assembly required to support the entire imaging device. Saidapparatus also having a motor assembly wherein the motor assemblyconsumes a minimum amount of energy that is less than that required todrive a frame assembly supporting the entire imaging device. In apreferred embodiment, said motor assembly will consume no more than onehalf of the amount of energy than that of a motor assembly required todrive a frame assembly supporting the entire imaging device. Saidapparatus can be configured to be coupled to a moving vehicle, an aerialvehicle, or can be handheld.

Provided herein, as shown in FIG. 1A, is an exemplary apparatus 100 forstabilizing an imaging device 115, (108+120) comprising an optical unit120 and a non-optical unit 108, said apparatus comprising: a frameassembly 110 rotatably coupled to the optical unit 120 of the imagingdevice, without supporting the entire imaging device as a whole 115,wherein the frame assembly 110 configured to permit the optical unit 120to rotate about at least a first rotational axis 102 and a secondrotational axis 104, the optical unit 120 comprising at least a lens 121and a photosensor 123 that is optically coupled to the lens; and a motorassembly 112, 114 coupled to the frame assembly 110, the motor assemblyconfigured to directly drive the frame assembly so as to permit theoptical unit to rotate about at least the first rotational axis 102 orthe second rotational axis 104. As shown, the non-optical unit iscoupled to the frame assembly on a base 107, which can be on acompletely different part of the frame, or even a remote location.

As a further illustration, FIG. 1B illustrates one possibleconfiguration of an imaging device 115, wherein the optical unit 120 andthe non-optical unit 108 are physically separated, but coupled byoptical cabling 101 or wiring, and electrically coupled at each end 101a, and 101 b. In this illustration, the non-optical unit is comprises ahousing 109, a battery 104 and storage media 105. The optical unit 120comprises a lens 121, and a photosensor 123.

In some embodiments the non-optical unit 108 of the imaging device isnot mechanically coupled to the apparatus. It is understandable thatonce one realizes that the components of the imaging device can bephysically separated, it is no longer necessary for both components tobe physically located on the same apparatus. For example, the opticalunit 120 may be located on the apparatus, while the non-optical unit 120is located somewhere else, preferably nearby, but not necessarily. Insome embodiments the optical unit and the non-optical unit areelectrically coupled (FIG. 1B). This may typically be accomplished byoptical cabling or electrical wiring 101. In some embodiments theoptical unit and the non-optical unit are movable relative to eachother. As shown in FIG. 1 and further illustrated in FIG. 1B, when theoptical unit and non-optical unit are physically separated, andphysically located on separate mounting bases, and/or separate axes of amulti-axis apparatus, such as described herein, the optical unit andnon-optical unit can be configured to each other, by design.

In some embodiments, the non-optical unit of the imaging device is notmechanically coupled to the optical unit of the imaging device, asillustrated in FIGS. 1C 1E by other mean including but not limited towireless 101 c communication between the optical unit and thenon-optical unit. Such wireless means of communication includeelectromagnetic telecommunications, (i.e.: radio), and point-to-point,or point-to-multi-point wireless networking, or alternately, light(e.g.: infrared), magnetic, or electric fields.

In some embodiments, such as illustrated in FIGS. 1C 1E, the opticalunit 120 of the imaging device 115 further comprises at least one of afilter (not shown), positional sensor (not shown), storage medium 105,battery 104, zooming motor (not shown), circuitry 103, power supply(alternately 104), processor (not shown), or housing (not shown).Because the major components of the imaging device have been separatedfor this apparatus, it may be necessary to individually configure eachmajor component with various sub-components, which may or may not beredundant to the other major component(s). Examples may include;positional sensors, storage media 105, a source of power 104, etc.Alternatively, some components will rarely if ever be needed in allmajor components. In still other embodiments, the optical unit of theimaging device further comprises a weight adapted to provide stabilityfor the optical unit. Depending on the application and physical density,any number of sub-components may act in the dual capacity of a weightand their alternate, intended function. For example, in someembodiments, the weight may comprise a battery 104.

In some embodiments, the non-optical 108 unit does not include a lens121, or a photosensor 123, as illustrated in FIGS. 1B-1E. In otherembodiments, the non-optical unit of the imaging device comprises atleast one of a positional sensor (not shown), storage medium 105,battery 104, motors (not shown), circuitry 103, power supply, processor(not shown), or housing 109.

In some embodiments, at least one of the first rotational axis 102 andthe second rotational axis 104 corresponds to a pitch, roll or yaw axisof the optical unit. In other embodiments, the frame assembly is furtherconfigured to permit the optical unit to rotate about a third rotationalaxis 106. In some embodiments, the third rotational axis corresponds toat least one of a pitch, roll, or yaw axis of the optical unit. Althoughspecific axes of rotation have been illustrated in FIG. 1, one of skillin the art would recognize that the axes of rotation can be randomlysubstituted, as appropriate, to meet the needs of a given application;meaning X-axis (pitch) rotation can be substituted with Y-axis (roll)rotation, or Z-axis (yaw) rotation can be substituted with X-axis(pitch) rotation, etc.

Still further, in some embodiments, the apparatus further comprises oneor more positional sensors 122, wherein at least one of the one or morepositional sensors is configured to detect state information associatedwith the optical unit 120. In addition the apparatus further comprises acontroller for generating one or more motor signals 124 based on thestate information associated with the optical unit. In some embodiments,the state information comprises translational or rotational movementinformation or positional information.

In still other embodiments, at least one of the positional sensors isconfigured to detect state information associated with the non-opticalunit. This is useful for orienting the image generated by the imagingdevice in space, e.g., especially when the non-optical unit is mountedon a base (e.g.: 107) that may represent the horizontal or vertical axisof a carrier device.

In still further embodiments, at least one of the one or more positionalsensors is configured to measure movement associated with at least apitch, roll, or yaw axis of the optical unit. In addition, at least oneof the one or more positional sensors comprises an inertial sensor.

In any one of the preferred embodiments as illustrated in FIGS. 2, 3, 4,the rotational (pitch) axis X 202 of the first frame member mountingbase 227 is orthogonally disposed relative to the rotational (roll) axisY 204, for example, to allow the motors to easily and timely adjust therotation of the frame assembly. In other embodiments, the rotationalaxes may not be orthogonally disposed to each other such as in FIG. 3.

In some embodiments, as illustrated in FIG. 4, the rotational (roll)axis X 404 is orthogonally disposed relative to the rotational (yaw)axis Y 406, for example, to allow the motors to easily and timely adjustthe rotation of the frame assembly. In other embodiments, the rotationalaxes may not be orthogonally disposed to each other such as in FIG. 3.

To further increase the stability for the payload device, the center ofgravity of the first frame member mounting base 308 and the payloaddevice 309 as a whole is preferably located on the rotational (pitch)axis X 302 of the first frame member, as illustrated in FIG. 3. In someembodiments, the pitch axis intersects with the payload device 309. Itis appreciated that when the center of gravity of the first frame memberand the payload device 309 is positioned on the rotational axis X 302 ofthe first frame member, the rotation of the first frame member does notgenerate any torque. In other words, the first frame member is notlikely to have any swing movement caused by the torque. Thus, thestability of the payload device is enhanced during rotation. Inaddition, in the preferred embodiment, when the carrier is movingsmoothly, that is, when little or no motor drive stabilization isrequired, the first frame member and the payload device 309 is also in adynamically balanced state.

Similarly, to provide enhanced stability and avoid torque generated byrotation around the rotational Y (roll) axis 304, in a preferredembodiment and as shown in FIG. 3, the center of gravity of the firstframe member, the second frame member and the payload device 309 as awhole is located on the rotational axis Y 304 of the second framemember. In some embodiments, the rotational Y (roll) axis 304 intersectswith the payload device 309.

It is also appreciated that in the afforementioned configuration of theframe assembly can provide near limitless ranges of motion for axes 1,2, or 3, allowing for rotational swings of X, Y or Z axes, individuallyor together, in ranges from 0-360 degrees or more, allowing the payloaddevice 309 to circumferentially rotate (e.g., up to 360 degrees, 720degrees, or more, in any axis), for example, in order to performpanoramic photography.

In any of the preceding and subsequent embodiments, the apparatus can beconfigured to be coupled to a movable object. In some embodiments, thefixing points 118, 218, 318, 418 may be used to mount the mointing base201 to or to facilitate the carrying of the stabilizing platform by acarrier, such as an aerial vehicle, motor vehicle, ship, robot, human,or any other movable object. As another example, the mointing base 201may be handheld by a human, for example, to perform dynamic videographyor photography.

A moveable object may be anything that can move relative to the earth.For example, moveable objects can be a wheeled-vehicle; atracked-vehicle; a sliding or sledded vehicle; an aircraft; ahovercraft; a watercraft; or a spacecraft. Alternatively, a movingobject can be a human being; a mammal; an aquatic animal; an amphibiousanimal; a reptile; a bird; or an invertebrate animal. Still further, amoving object can be relatively fixed, but still capable of movement,such as a tree, pole, or even a building that may be subject to swayingor vibration due to wind or even earthquakes.

In addition, the apparatus is configured to reduce relatively moremovement experienced by the optical unit caused by the movable objectthan the amount of movement experienced by the non-optical unit. Thismovement can include but limit one of vibration, shock, sway, tremor,shaking, or jerking movement. In some embodiments, the apparatus forstabilizing an imaging device comprising an optical unit and anon-optical unit is configured to be handheld. Such apparatus canproduce a more stable platform for vibration-resistant or evenvibration-free imagery by, e.g., isolating the optical unit of animaging device. Since a large proportion of the overall weight of animaging device is associated with components and sub-components that arenot directly associated with the lens and photosensor, the apparatus isdesigned to provide better vibration dampening and higher response ratesto the smaller and lighter components of the optical unit alone.

Still further, as specifically illustrated in FIG. 1, or implied in anyof the preceding or subsequent embodiments, the frame assembly comprisesa first stage connected to and supporting the optical unit, a secondstage movable relative to the first stage, and the optical unit aboutthe first rotational axis. In addition, the frame assembly can furthercomprise a third stage movable relative to the second stage about thesecond rotational axis.

As further illustrated in FIG. 1, provided herein is an apparatus forstabilizing at least a portion of an imaging device that comprises anoptical unit and a non-optical unit, said apparatus comprising a frameassembly having a volume that is less than that of a frame assemblyrequired to support the entire imaging device having the optical unitand the non-optical unit as potentially illustrated in FIGS. 4 and 5B,wherein the frame assembly is configured to support the optical unit 120of the imaging device, wherein the frame assembly is configured topermit rotation of the optical unit about at least a first rotationalaxis 102 and a second rotational axis 104, and wherein the optical unitcomprises at least a lens 121 and a photosensor 123 that is opticallycoupled to the lens; and wherein the motor assembly 112 or 114 (notshown) is configured to drive the frame assembly 110 so as to permitrotation of the optical unit 120 about at least the first rotationalaxis 102 or the second rotational axis 104.

In some embodiments, a frame assembly has a volume that is preferablyone half or less than that of a frame assembly required to support theentire imaging device. For example, miniaturized components of theoptical unit, described herein, and illustrated in FIG. 1, have thefollowing proportions, wherein a 1/2.33″ photosensor having an imagingarea of 6.13×4.6 mm, weighs 0.6 g. The entire optical unit (photosensorlens and structure used secure lens and photosensor), plus a three-axisgyroscope and three-axis accelerometer, weigh about 15 g. The overalldimensions would be approximately 2.5 cm×1.8 cm×3 cm. The non-opticalunit of an imaging system designed to work with this optical unit wouldhave the outer dimension volumes of 77 mm×67 mm×80 mm, and have a totalweight of 80 g (excluding the optical component). In addition, the motoralong each axis of a 3-axis frame assembly has a rated power of onlyabout 2 w. The invention described herein compares very favorably toother successful “compact” imaging systems having a 1/2.33″ photosensorsuch as one by GoPro®, wherein the dimensions are 58.4×38.1×20.3 mm andthe weights are approximately 75 g. For stabilizing the whole GoProcamera, currently existing 2-axis platforms weigh 200 g (excluding thecamera), with an outer dimensional volume of 93 mm×85 mm×100 mm. Themuch larger motors required to drive the larger frames require 5 w powerlevels for each motor along each axis.

By separating the optical unit from the non-optical unit, the volume ofthe frame assembly required for stabilization is less than that isrequired to support the entire imaging device. In some embodiment, thevolume of the frame assembly is reduced by 10%, 20%, 30%, 40%, 50%, 60%,70%, 100% or more as compared to the volume of a frame assembly forsupporting the entire imaging device. In other embodiments, the volumeof the frame assembly is merely ¼, ⅓, ¼, ⅕ or less of that is requiredfor supporting the entire imaging device having the optical andnon-optical units as a whole.

In other embodiment, the minimum amount of the energy required by asubject motor to drive the subject frame assembly is less than that isrequired to drive a frame assembly supporting the entire imaging device.In some embodiments, the motor consumes a minimum amount of energy thatis 90%, 80%, 70%, 60%, 50%, 40$, 30%, 20%, 10% or even less than thatwhich is required for a motor driving a frame assembly supporting thewhole imaging device (e.g., with optical and the non-optical units as anintegral piece). In some embodiments, the minimum amount of energyrequired by the subject motor is less than 5 W, 4 W, 3 W, 2 W, 1 W powerto drive along an axis of a frame assembly.

In some embodiments the non-optical unit of the imaging device 115 isnot mechanically coupled to the apparatus. In some embodiments theoptical unit and the non-optical unit are electrically coupled. In someembodiments the optical unit and the non-optical unit are movablerelative to each other. As shown in FIG. 1, when the optical unit andnon-optical unit are physically separated, and physically located onseparate mounting bases, and/or separate axes of a multi-axis apparatus,such as described herein, the optical unit and non-optical unit willmove relative to each other, by design.

As previously described, in some embodiments, the non-optical unit 108of the imaging device 115 is not mechanically coupled to the opticalunit of the imaging device, as illustrated in FIGS. 1B-1E. Employing anyone of a variety of available communication technologies, the apparatusdescribed herein can employ a means of wireless communication 101 cbetween the optical unit and the non-optical unit. Such wireless meansof communication include electromagnetic telecommunications, (i.e.:radio), and point-to-point, or point-to-multi-point wireless networking,or alternately, light (e.g.: infrared), magnetic, or electric fields.

In some embodiments the optical unit 120 of the imaging device 115further comprises at least one of a filter, positional sensor, storagemedium, battery, zooming motor, circuitry, power supply, processor, orhousing. In still other embodiments, the optical unit of the imagingdevice further comprises a weight adapted to provide stability for theoptical unit. In still other embodiments, the weight comprises abattery.

In some embodiments, the non-optical unit does not include a lens or aphotosensor. In other embodiments, the non-optical unit of the imagingdevice comprises at least one of a positional sensor, storage medium,battery, motors, circuitry, power supply, processor, or housing.

In some embodiments, at least one of the first rotational axis and thesecond rotational axis corresponds to a pitch, roll or yaw axis of theoptical unit. In other embodiments, the frame assembly is furtherconfigured to permit the optical unit to rotate about a third rotationalaxis. In some embodiments, the third rotational axis corresponds to atleast one of a pitch, roll, or yaw axis of the optical unit.

Still further, in some embodiments, the apparatus further comprises oneor more positional sensors, wherein at least one of the one or morepositional sensors is configured to detect state information associatedwith the optical unit. In addition the apparatus further comprises acontroller for generating one or more motor signals based on the stateinformation associated with the optical unit. In some embodiments, thestate information comprises translational or rotational movementinformation or positional information.

In still other embodiments, at least one of the positional sensors isconfigured to detect state information associated with the non-opticalunit.

In still further embodiments, at least one of the one or more positionalsensors is configured to measure movement associated with at least apitch, roll, or yaw axis of the optical unit. In addition, at least oneof the one or more positional sensors comprises an inertial sensor.

In any of the stated embodiments, the apparatus is configured to becoupled to a movable object. A moveable object may be anything that canmove relative to the earth. For example, moveable objects can be awheeled-vehicle; a tracked-vehicle; a sliding or sledded vehicle; anaircraft; a hovercraft; a watercraft; or a spacecraft. Alternatively, amoving object can be defined as a human being; a mammal; an aquaticanimal; an amphibious animal; a reptile; a bird; or an invertebrateanimal. Still further, a moving object can be relatively fixed, butstill capable of movement, such as a tree, pole, or even a building thatmay be subject to swaying or vibration due to wind or even earthquakes.

In addition, the apparatus is configured to reduce relatively moremovement experienced by the optical unit caused by the movable objectthan the amount of movement experienced by the non-optical unit. Thismovement is often described as one of vibration, shock, sway, tremor,shaking, or jerking movement. In some embodiments, the apparatus forstabilizing an imaging device comprising an optical unit and anon-optical unit is configured to be handheld. More specifically, anovel aspect of the apparatus is the inherent ability to uniquelyisolate the optical unit thus producing a more stable platform forvibration-free imagery. Since a large proportion of the overall weightof an imaging device is associated with components and sub-componentsthat are not directly associated with the lens and photosensor, theapparatus is designed to provide better vibration dampening and higherresponse rates to the smaller and lighter components of the optical unitalone.

As stated previously, the apparatus is configured to be coupled to amovable object. In addition, the apparatus is configured to reducerelatively more movement experienced by the optical unit caused by themovable object than the amount of movement experienced by thenon-optical unit. In some embodiments, the apparatus for stabilizing atleast a portion of an imaging device comprising an optical unit and anon-optical unit is configured to be handheld.

Still further, in any of the preceding embodiments, the frame assemblycomprises a first stage connected to and supporting the optical unit,and a second stage movable relative to the first stage and the opticalunit about the first rotational axis. In addition, the frame assemblycan further comprise a third stage movable relative to the second stageabout the second rotational axis.

Provided herein is an apparatus for stabilizing at least a portion of animaging device that comprises an optical unit and a non-optical unit,said apparatus comprising: a frame assembly supporting the optical unitof the imaging device, wherein the frame assembly is configured topermit rotation of the optical unit about at least a first rotationalaxis and a second rotational axis, and wherein the optical unitcomprises at least a lens and a photosensor that is optically coupled tothe lens; and a motor assembly operably connected to the frame assembly,wherein the motor assembly is configured to drive the frame assembly soas to permit rotation of the optical unit about at least the firstrotational axis or the second rotational axis, and wherein the motorassembly consumes a minimum amount of energy that is less than thatrequired to drive a frame assembly supporting the entire imaging device.

As further illustrated in FIG. 1, in a preferred embodiment, the motorassembly will preferably consume no more than one half of the amount ofenergy than that of a motor assembly required to drive a frame assemblysupporting the entire imaging device.

Referring to the previous Example 1, the motor along each axis of a3-axis frame assembly of the subject invention has a rated power of onlyabout 2 w. An alternative illustrative embodiment for a 3-axis frame isillustrated in FIG. 2, (no imaging device shown).

Whereas by comparison, the motors required to drive the referenced2-axis frame assembly for a comparable “compact” GoPro camera aresignificantly larger. The much larger motors required to drive thelarger 2-axis frames require 5 w power levels for each motor along eachaxis. An example of larger 2-axis frame required for a comparable frameassembly supporting the entire imaging device is seen in FIG. 6.

In some embodiments the non-optical unit of the imaging device is notmechanically coupled to the apparatus. In some embodiments the opticalunit and the non-optical unit are electrically coupled. In someembodiments the optical unit and the non-optical unit are movablerelative to each other.

As previously described, in some embodiments, the non-optical unit ofthe imaging device is not mechanically coupled to the optical unit ofthe imaging device. Employing any one of a variety of availablecommunication technologies, the apparatus described herein can employ ameans of wireless communication between the optical unit and thenon-optical unit. Such wireless means of communication includeelectromagnetic telecommunications, (i.e.: radio), and point-to-point,or point-to-multi-point wireless networking, or alternately, light(e.g.: infrared), magnetic, or electric fields.

In some embodiments the optical unit of the imaging device furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In still other embodiments, the optical unit of the imaging devicefurther comprises a weight adapted to provide stability for the opticalunit. In still other embodiments, the weight comprises a battery.

In some embodiments, the non-optical unit does not include a lens or aphotosensor. In other embodiments, the non-optical unit of the imagingdevice comprises at least one of a positional sensor, storage medium,battery, motors, circuitry, power supply, processor, or housing.

In some embodiments, at least one of the first rotational axis and thesecond rotational axis corresponds to a pitch, roll or yaw axis of theoptical unit. In other embodiments, the frame assembly is furtherconfigured to permit the optical unit to rotate about a third rotationalaxis. In some embodiments, the third rotational axis corresponds to atleast one of a pitch, roll, or yaw axis of the optical unit.

Still further, in some embodiments, the apparatus further comprises oneor more positional sensors, wherein at least one of the one or morepositional sensors is configured to detect state information associatedwith the optical unit. In addition the apparatus further comprises acontroller for generating one or more motor signals based on the stateinformation associated with the optical unit. In some embodiments, thestate information comprises translational or rotational movementinformation or positional information.

In still other embodiments, at least one of the positional sensors isconfigured to detect state information associated with the non-opticalunit.

In still further embodiments, at least one of the one or more positionalsensors is configured to measure movement associated with at least apitch, roll, or yaw axis of the optical unit. In addition, at least oneof the one or more positional sensors comprises an inertial sensor.

In some of the preceding embodiments, the apparatus is configured to becoupled to a movable object. In addition, the apparatus is configured toreduce relatively more movement experienced by the optical unit causedby the movable object than the amount of movement experienced by thenon-optical unit. In some embodiments, the apparatus for stabilizing atleast a portion of an imaging device comprising an optical unit and anon-optical unit is configured to be handheld.

Still further, in some of the preceding embodiments, the frame assemblycomprises a first stage connected to and supporting the optical unit,and a second stage movable relative to the first stage and the opticalunit about the first rotational axis. In addition, the frame assemblycan further comprise a third stage movable relative to the second stageabout the second rotational axis.

In some embodiments of the apparatus, said energy is less than theamount of energy required to drive the frame assembly when the entireimaging device apparatus as a whole is supported by the frame assembly.

In some embodiments wherein an apparatus for stabilizing at least aportion of an imaging device that comprises an optical unit and anon-optical unit, and wherein the motor assembly consumes a minimumamount of energy that is less than that required to drive a frameassembly supporting the entire imaging device, said energy is less thanthe amount of energy required to drive the frame assembly when theentire imaging device apparatus as a whole is supported by the frameassembly.

As suggested above, at least one embodiment of the apparatus comprises aframe assembly configured to support an entire imaging device, whereinthe components have been separated and are placed at different locationson the frame. For example, as shown in FIG. 1, the non-optical unit isplaced on the base 107, on the Z-axis frame, whereas the optical unit isconnected to the X-axis frame. In this configuration, the mass of thenon-optical component can be completely isolated from the optical unit,thus allowing for a mixture of frame assembly components, with largermotors and frame base on the Z-plane, and the use of smallerconfiguration frame components below the Z-plane and subsequently usemotors that consume less energy to drive the frame controlling only theoptical unit movements. This example is only meant as one illustrativeexample of the numerous possible configurations and sub-configurationswhich are now possible.

Provided herein is an imaging device comprising an optical unit 309which comprises at least a lens and a photosensor that is opticallycoupled to the lens; and a non-optical unit that is electrically coupledto the optical unit (not-shown), wherein the optical unit is movablerelative to the non-optical unit via actuation of a frame assembly 300coupled to said optical unit, as previously illustrated in FIG. 1.

In some embodiments, the non-optical unit is not mechanically coupled tothe frame assembly. As shown in FIG. 3, a representative three-axisframe assembly 300 is illustrated with an optical unit 309 coupled tothe X-axis 302 of the frame in a carrier bracket 308, however, thenon-optical unit is remotely located somewhere off the frame. Asdescribed previously, the non-optical unit and optical unit areillustrated in a wireless communication set-up.

As with prior examples, the illustrative frame has drive motors 310,312, 320 with positional sensors 322 and a at least one controller 324for generating one or more motor signals for driving the movement of theframe assembly of the apparatus, based on the state informationgenerated by the sensors.

Further, as illustrated by rotational symbols α and β the portion of theframe assembly controlling the movement of the optical unit has freedomto move in a rotation angle (α) between Z 306 (yaw) & Y 304 (roll) axes,and in non-right angle of rotation (θ), resulting in net attitudinaltranslational movement separate from the non-optical unit, whether thenon-optical unit is coupled to the frame or located remotely.

Additionally, FIG. 3 and FIG. 4 illustrate a means for alternativetranslational and attitudinal movement by providing additional rotationarms 314, 429, 442 and supporting arm extensions 315, 441 respectively,which further illustrate relative movement that is capable between theoptical and non-optical units of the imaging device and also providegreater range of movement within the frame itself.

In some embodiments, the optical unit further comprises at least one ofa filter, positional sensor, storage medium, battery, zooming motor,circuitry, power supply, processor, or housing. In other embodiments,the optical unit further comprises a weight adapted to provide stabilityfor the optical unit. In some embodiments the weight comprises abattery.

In some embodiments, the non-optical unit does not include a lens or aphotosensor. In other embodiments, the non-optical unit of the imagingdevice comprises at least one of a positional sensor, storage medium,battery, motors, circuitry, power supply, processor, or housing.

In some embodiments of the imaging device, the optical unit 309, ismovable about a first rotational axis 302 and a second rotational axis304 via the actuation of the frame assembly and the optical unit ismovable about a third rotational axis 306 via the actuation of the frameassembly.

In other embodiments of the imaging device, the optical unit is movableabout a third rotational axis via the actuation of the frame assemblyand the third rotational axis corresponds to at least one of a pitch,roll, or yaw axis of the optical unit.

In still further embodiments of the imaging device, the stateinformation associated with the optical unit is detectable by one ormore positional sensors 322 and said state information associated withthe optical unit is used to generate one or more motor signals via thecontroller 324 that drive the actuation of the frame assembly. Saidstate information comprises translational or rotational movementinformation or positional information. In addition, state informationassociated with the non-optical unit is detectable by one or morepositional sensors.

In still further embodiments of the imaging device, at least one of theone or more positional sensors is configured to measure movementassociated with at least a pitch, roll, or yaw axis of the optical unit,and at least one of the one or more positional sensors comprises aninertial sensor.

In some embodiments, the frame assembly of the imaging device isconfigured to be coupled to a movable object. As illustrated in FIGS. 3and 4 multiple fixing points 318, 418 are provide on a Z-axis base 316,as one possible location for coupling a frame assembly to a moveableobject.

In some embodiments of the imaging device, the optical unit and thenon-optical unit are contained within a single housing. As shown in FIG.4, a miniaturized imaging device 459 is contained within the carrierbracket 431 and driven about a first axis with a first driving member432 and one or more positional sensors 422. In other embodiments, theoptical unit and the non-optical unit are not contained within a singlehousing. In this embodiment, the imaging device has a complete range ofmulti-axis rotational and translational movement with the ability topivot about a first rotating axis 429 and the rotational axis of thefirst driving member 432. Additionally, roll motion is provided by thesecond drive motor and positional sensor 433, 422, with motor signalprovided by controller 424. And finally, yaw motion is provided by athird drive motor 434 and positional sensor 422, allowing the imagingdevice to pivot about the extension arms 441, and 442.

In still other embodiments of the imaging device 459, the optical unitand the non-optical unit are both utilized to capture and store animage.

As shown in FIG. 5A, a representative aerial vehicle 500 is providedcomprising a vehicle body 510 and an apparatus for stabilizing animaging device attached to the vehicle body comprising; an optical unitand a non-optical unit, said apparatus comprising; a frame assembly 520having a mounting member 525, rotatably coupled to the optical unit ofthe imaging device 540, and supporting the entire imaging device as awhole, wherein the frame assembly is configured to permit the imagingdevice to rotate about at least a first rotational axis 501 and a secondrotational axis 502, the optical unit comprising at least a lens 521(not shown), and a photosensor 523 (not shown) that is optically coupledto the lens; and a motor assembly 530 coupled to the frame assembly, themotor assembly configured to directly drive the frame assembly so as topermit the optical unit to rotate about at least the first rotationalaxis or the second rotational axis.

Optionally, the device is configured with a third motor assembly 536coupled to the frame assembly, the motor assembly configured to directlydrive the frame assembly 570 so as to permit the optical unit 545 torotate about a third rotational axis 503, as illustrated in FIGS. 5B and5C.

Provided herein is an aerial vehicle comprising a vehicle body and anapparatus for stabilizing at least a portion of an imaging deviceattached to the vehicle body that comprises; an optical unit and anon-optical unit, said optical unit and non-optical unit constitutingthe entire imaging device, said apparatus comprising; a frame assemblyhaving a volume that is less than that of a frame assembly required tosupport the entire imaging device having the optical unit and thenon-optical unit, wherein the frame assembly is configured to supportthe optical unit of the imaging device, wherein the frame assembly isconfigured to permit rotation of the optical unit about at least a firstrotational axis and a second rotational axis, and wherein the opticalunit comprises at least a lens and a photosensor that is opticallycoupled to the lens; and a motor assembly operably connected to theframe assembly, wherein the motor assembly is configured to drive theframe assembly so as to permit rotation of the optical unit about atleast the first rotational axis or the second rotational axis.Optionally, the device is configured with a third motor assembly 536coupled to the frame assembly, the motor assembly configured to directlydrive the frame assembly 570 so as to permit the optical unit 545 torotate about a third rotational axis 503, as illustrated in FIGS. 5B and5C.

Preferably, as shown in FIG. 5B, the frame assembly 570 is configured tosupport the optical unit 545 of the imaging device, without supportingthe entire imaging device 540 as a whole, wherein the frame assembly isconfigured to permit the optical unit to rotate about at least a firstrotational axis 501 and a second rotational axis 502, and optionally athird rotational axis 503, the optical unit comprising at least a lens521 and a photosensor 523 that is optically coupled to the lens; andmotor assemblies 532, 534 coupled to the frame assembly, the motorassemblies configured to directly drive the frame assembly 570 so as topermit the optical unit 545 to rotate about at least the firstrotational axis 502, or the second rotational axis 501. In addition, athird motor assembly 536 is coupled to the frame assembly, to permit theoptical unit 545 to rotate about a third rotational axis 503.

Provided herein is an aerial vehicle comprising a vehicle body and anapparatus for stabilizing at least a portion of an imaging deviceattached to the vehicle body that comprises an optical unit and anon-optical unit, said optical unit and non-optical unit constitutingthe entire imaging device, said apparatus comprising; a frame assemblysupporting the optical unit of the imaging device, wherein the frameassembly is configured to permit rotation of the optical unit about atleast a first rotational axis and a second rotational axis, and whereinthe optical unit comprises at least a lens and a photosensor that isoptically coupled to the lens; and a motor assembly operably connectedto the frame assembly, wherein the motor assembly is configured to drivethe frame assembly so as to permit rotation of the optical unit about atleast the first rotational axis or the second rotational axis, andwherein the motor assembly consumes a minimum amount of energy that isless than that required to drive a frame assembly supporting the entireimaging device.

In some embodiments of the aerial vehicle 500, said vehicle comprises anengine 555 configured to drive movement of said aerial vehicle. In someembodiments, the engine is configured within said vehicle body. In someembodiments, the engine is configured as a component of a rotor assembly550.

According to another aspect of the present invention the apparatus forstabilizing at least a portion of an imaging device also comprises shockabsorbers 571 such as illustrated in FIG. 5B. Shock absorbers can beplaced strategically on the frame, preferably between the frame and themoving vehicle, at the mounting surface, to insulate the imaging device,or more importantly, the optical unit from vibration, shock, sway,tremor, shaking, or jerking movement.

In some embodiments, the aerial vehicle is an unmanned aerial vehiclecapable of controlled flight without requiring an occupant of the aerialvehicle.

In some embodiments, the aerial vehicle comprises one or more blades 557configured to rotate to provide lift to the unmanned aerial vehicle.

In some embodiments of the aerial vehicle, the non-optical unit issupported by the vehicle body without being supported by the frameassembly. As illustrated in prior examples, and again in FIG. 5B, orFIGS. 1B-1E, the optical unit and non-optical units can be physicallyseparated and communicate by either tethered (wired) 101 or wirelesscommunication means 101 c.

Provided herein is a method of stabilizing at least a portion of animaging device that comprises an optical unit and a non-optical unit,said method comprising; supporting the optical unit of the imagingdevice using a frame assembly without supporting the entire imagingdevice as a whole, as illustrated in FIGS. 1A and 5B, wherein the frameassembly is configured to permit rotation of the optical unit about atleast a first rotational axis and a second rotational axis, and whereinthe optical unit comprises at least a lens and a photosensor that isoptically coupled to the lens; and driving the frame assembly using amotor assembly operably connected to the frame assembly, thereby causingrotation of the optical unit about at least the first rotational axis orthe second rotational axis.

In some embodiments of the stabilizing method, the optical unit and thenon-optical unit are electrically coupled to each other.

In some embodiments of the stabilizing method, the optical unit 120, 540further comprises at least one of a filter, positional sensor, storagemedium 105, battery 104, zooming motor, circuitry 103, power supply,processor, or housing. In other embodiments of the method, the opticalunit further comprises a weight adapted to provide stability for theoptical unit. In some embodiments, the weight comprises a battery. Instill further embodiments, the battery is configured to provide powernecessary for operation of an aerial vehicle or the imaging device.

In some embodiments of the stabilizing method, the non-optical 108 unitdoes not include a lens or a photosensor. In other embodiments of thestabilizing method, the non-optical unit comprises at least one of apositional sensor, storage medium 105, power supply, battery 104,motors, circuitry 103, display, processor, or housing 109.

In still other embodiments of the stabilizing method, at least one ofthe first rotational axis and the second rotational axis corresponds toa pitch, roll, or yaw axis of the optical unit. In other embodiments,the method further comprises driving the frame assembly using the motorassembly, thereby causing rotation of the optical unit about a thirdrotational axis. Still further the method wherein the third rotationalaxis corresponds to at least one of a pitch, roll or yaw axis of theoptical unit.

In yet other embodiments of the stabilizing method, said methodcomprises receiving a signal from at least one positional sensor forindicative of an inclination angle of the non-optical unit and/or theoptical unit in order to correct an inclination angle of the opticalunit. In still other embodiments, said method further comprises reducingmore movement experienced by the optical unit than the amount ofmovement experienced by the non-optical unit. In some embodiments of themethod, said movement comprises at least one of vibration, shock, sway,tremor, shaking, or jerking movement.

In any of the preceding embodiments of the stabilizing method, saidmethod further comprises capturing and storing an image using both theoptical unit 120 and non-optical unit 108.

Provided herein is a method of stabilizing at least a portion of animaging device that comprises an optical unit and a non-optical unit,said optical unit and non-optical unit constituting the entire imagingdevice, said method comprising; supporting the optical unit of theimaging device using a frame assembly, the frame assembly having avolume that is less than that of a frame assembly required to supportthe entire imaging device having the optical unit and the non-opticalunit, wherein the frame assembly is configured to permit rotation of theoptical unit about at least a first rotational axis and a secondrotational axis, and wherein the optical unit comprises at least a lensand a photosensor that is optically coupled to the lens; and driving theframe assembly using a motor assembly operably connected to the frameassembly, thereby causing rotation of the optical unit about at leastthe first rotational axis or the second rotational axis.

In some embodiments of the stabilizing method, the optical unit and thenon-optical unit are electrically coupled to each other.

In some embodiments of the stabilizing method, the optical unit furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In other embodiments of the method, the optical unit further comprises aweight adapted to provide stability for the optical unit. In someembodiments, the weight comprises a battery 104. In still furtherembodiments, the battery is configured to provide power necessary foroperation of an aerial vehicle or the imaging device.

In some embodiments of the stabilizing method, the non-optical 108 unitdoes not include a lens or a photosensor. In other embodiments of thestabilizing method, the non-optical unit comprises at least one of apositional sensor, storage medium, power supply, battery, motors,circuitry, display, processor, or housing.

In still other embodiments of the stabilizing method, at least one ofthe first rotational axis and the second rotational axis corresponds toa pitch, roll, or yaw axis of the optical unit. In other embodiments,the method further comprises driving the frame assembly using the motorassembly, thereby causing rotation of the optical unit about a thirdrotational axis. Still further the method wherein the third rotationalaxis corresponds to at least one of a pitch, roll or yaw axis of theoptical unit.

In yet other embodiments of the stabilizing method, said methodcomprises receiving a signal from at least one positional sensor forindicative of an inclination angle of the non-optical unit and/or theoptical unit in order to correct an inclination angle of the opticalunit. In still other embodiments, said method further comprises reducingmore movement experienced by the optical unit than the amount ofmovement experienced by the non-optical unit. In some embodiments of themethod, said movement comprises at least one of vibration, shock, sway,tremor, shaking, or jerking movement.

In any of the preceding embodiments of the stabilizing method, saidmethod further comprises capturing and storing an image using both theoptical unit and non-optical unit.

Provided herein is a method of stabilizing at least a portion of animaging device that comprises an optical unit and a non-optical unit,said method comprising; supporting the optical unit of the imagingdevice using a frame assembly, wherein the frame assembly is configuredto permit rotation of the optical unit about at least a first rotationalaxis and a second rotational axis, and wherein the optical unitcomprises at least a lens and a photosensor that is optically coupled tothe lens; and driving the frame assembly using a motor assembly operablyconnected to the frame assembly, the motor assembly consuming a minimumamount of energy that is less than that required to drive a frameassembly supporting the entire imaging device, thereby causing rotationof the optical unit about at least the first rotational axis or thesecond rotational axis.

In some embodiments of the stabilizing method, the optical unit and thenon-optical unit are electrically coupled to each other.

In some embodiments of the stabilizing method, the optical unit furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In other embodiments of the method, the optical unit further comprises aweight adapted to provide stability for the optical unit. In someembodiments, the weight comprises a battery. According to another aspectof the present invention, the battery is configured to provide powernecessary for operation of an aerial vehicle or the imaging device.

In some embodiments of the stabilizing method, the non-optical unit doesnot include a lens or a photosensor. In other embodiments of thestabilizing method, the non-optical unit comprises at least one of apositional sensor, storage medium, power supply, battery, motors,circuitry, display, processor, or housing.

In still other embodiments of the stabilizing method, at least one ofthe first rotational axis and the second rotational axis corresponds toa pitch, roll, or yaw axis of the optical unit. In other embodiments,the method further comprises driving the frame assembly using the motorassembly, thereby causing rotation of the optical unit about a thirdrotational axis. Still further the method wherein the third rotationalaxis corresponds to at least one of a pitch, roll or yaw axis of theoptical unit.

In yet other embodiments of the stabilizing method, said methodcomprises receiving a signal from at least one positional sensor forindicative of an inclination angle of the non-optical unit and/or theoptical unit in order to correct an inclination angle of the opticalunit. In still other embodiments, said method further comprises reducingmore movement experienced by the optical unit than the amount ofmovement experienced by the non-optical unit. In some embodiments of themethod, said movement comprises at least one of vibration, shock, sway,tremor, shaking, or jerking movement.

In any of the preceding embodiments of the stabilizing method, saidmethod further comprises capturing and storing an image using both theoptical unit and non-optical unit.

Provided herein is a method of stabilizing at least a portion of animaging device, said method comprising providing an optical unitcomprising at least a lens and a photosensor that is optically coupledto the lens; electrically coupling a non-optical unit to the opticalunit; and moving the optical unit relative to the non-optical unit viaactuation of a frame assembly coupled to said optical unit.

In some embodiments of the stabilizing method, the optical unit furthercomprises at least one of a filter, positional sensor, storage medium,battery, zooming motor, circuitry, power supply, processor, or housing.In other embodiments of the method, the optical unit further comprises aweight adapted to provide stability for the optical unit. In someembodiments, the weight comprises a battery. In still furtherembodiments, the battery is configured to provide power necessary foroperation of an aerial vehicle or the imaging device.

In some embodiments of the stabilizing method, the non-optical unit doesnot include a lens or a photosensor. In other embodiments of thestabilizing method, the non-optical unit comprises at least one of apositional sensor, storage medium, power supply, battery, motors,circuitry, display, processor, or housing.

In still other embodiments of the stabilizing method, at least one ofthe first rotational axis and the second rotational axis corresponds toa pitch, roll, or yaw axis of the optical unit. In other embodiments,the method further comprises driving the frame assembly using the motorassembly, thereby causing rotation of the optical unit about a thirdrotational axis. Still further the method wherein the third rotationalaxis corresponds to at least one of a pitch, roll or yaw axis of theoptical unit.

In yet other embodiments of the stabilizing method, said methodcomprises receiving a signal from at least one positional sensor forindicative of an inclination angle of the non-optical unit and/or theoptical unit in order to correct an inclination angle of the opticalunit. In still other embodiments, said method further comprises reducingmore movement experienced by the optical unit than the amount ofmovement experienced by the non-optical unit. In some embodiments of themethod, said movement comprises at least one of vibration, shock, sway,tremor, shaking, or jerking movement.

In any of the preceding embodiments of the stabilizing method, saidmethod further comprises capturing and storing an image using both theoptical unit and non-optical unit.

Provided herein is an aerial vehicle comprising a vehicle body and aframe assembly connected to said vehicle body, wherein said frameassembly comprises a battery attached thereto and said frame assembly isconfigured to hold and stabilize an imaging device having an opticalunit, and wherein the battery is attached to the assembly at a locationseparate from that of the imaging device, and wherein the battery isconfigured to provide power for operation of the aerial vehicle or theimaging device.

In some embodiments, the battery is configured to provide power foroperation of the aerial vehicle. In some embodiments the battery has aweight that provides stability to said optical unit of said imagingdevice.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

1. An apparatus for stabilizing at least a portion of an imaging device,said imaging device comprising an optical unit and a non-optical unit,and said optical unit and said non-optical unit constituting the entireimaging device, said apparatus comprising: a frame assembly supportingthe optical unit of the imaging device without supporting the entireimaging device as a whole, wherein said optical unit comprises a lensand a photosensor, wherein the frame assembly supports a compact unitcomprising: (1) an inertial measurement unit and (2) the optical unit,and wherein the frame assembly is configured to permit rotation of thecompact unit about at least a first rotational axis and a secondrotational axis; a motor assembly operably connected to the frameassembly, wherein the motor assembly is configured to drive the frameassembly in response to a signal provided by the inertial measurementunit so as to permit rotation of the optical unit and the inertialmeasurement unit about at least the first rotational axis or the secondrotational axis; and a separate housing (1) not supported by the frameassembly and (2) containing therein one or more non-optical componentsselected from the group consisting of a power supply for powering thephotosensor and a display.
 2. An apparatus for stabilizing at least aportion of an imaging device, said imaging device comprising an opticalunit and a non-optical unit, and said optical unit and said non-opticalunit constituting the entire imaging device, said apparatus comprising:a frame assembly having a volume that is less than that of a frameassembly required to support the entire imaging device having theoptical unit and the non-optical unit, wherein the frame assembly isconfigured to support an inertial measurement unit and the optical unitof the imaging device, said optical unit comprising a lens and aphotosensor, wherein the frame assembly is configured to permit rotationof the optical unit and the internal measurement unit about at least afirst rotational axis and a second rotational axis; and a motor assemblyoperably connected to the frame assembly, wherein the motor assembly isconfigured to drive the frame assembly in response to a signal providedby the inertial measurement unit so as to permit rotation of the opticalunit and the inertial measurement unit about at least the firstrotational axis or the second rotational axis, without permittingrotation of a memory unit configured to store data of images capturedusing the photosensor or a processor configured to process data ofimages captured using the photosensor.
 3. An apparatus for stabilizingat least a portion of an imaging device, said imaging device comprisingan optical unit and a non-optical unit, and said optical unit and saidnon-optical unit constituting the entire imaging device, said apparatuscomprising: a frame assembly supporting the optical unit of the imagingdevice and an inertial measurement unit, wherein the frame assembly isconfigured to permit rotation of the optical unit and the inertialmeasurement unit about a pitch axis, a roll axis, and a yaw axis, saidoptical unit comprising a lens and a photosensor; and a motor assemblyoperably connected to the frame assembly, wherein the motor assembly isconfigured to drive the frame assembly in response to a signal providedby the inertial measurement unit so as to permit rotation of the opticalunit and the inertial measurement unit about at least the firstrotational axis or the second rotational axis, and wherein the motorassembly consumes a minimum amount of energy that is less than thatrequired to drive a frame assembly supporting the entire imaging device,wherein the frame assembly comprises: (1) a first frame memberconfigured to be coupled to the apparatus, (2) a second frame memberrotatably coupled to the first frame member on the pitch axis, and (3) athird frame member rotatably coupled to the second frame member on theroll axis and configured to rotate relative to the movable object aboutthe yaw axis, and wherein the motor assembly comprises: (1) a firstmotor configured to drive movement of the first frame member relative tothe second frame member about the pitch axis, (2) a second motorconfigured to drive movement of the second frame member relative to thethird frame member about the roll axis, and (3) a third motor configuredto drive movement of the third frame member relative to the movableobject about the yaw axis.
 4. An imaging device comprising: an opticalunit comprising at least a lens and a photosensor; and a non-opticalunit that is electrically coupled to the optical unit, wherein theoptical unit and an inertial measurement unit are movable relative tothe non-optical unit about at least one axis via actuation of a frameassembly coupled to said optical unit in response to a signal providedby the inertial measurement unit, and wherein the frame assemblycomprises a first frame member configured to support from a single sidewithout supporting an opposing side, the optical unit and the inertialmeasurement unit, and a second frame member that supports the firstframe component is movable relative to the first frame member.
 5. Theapparatus of claim 1, wherein the non-optical unit of the imaging deviceis not mechanically coupled to the apparatus.
 6. The apparatus of claim1, wherein the optical unit and the non-optical unit are electricallycoupled and movable relative to each other.
 7. The apparatus of claim 1,wherein the optical unit of the imaging device further comprises astorage medium and an image processing unit.
 8. The apparatus of claimwherein 1, wherein a zooming motor controlling zoom of the optical unitis not supported by the frame assembly and does not rotate with theoptical unit.
 9. The apparatus of claim 1, wherein the non-optical unitdoes not include a lens or a photosensor.
 10. The apparatus of claim 1,wherein the non-optical unit of the imaging device comprises at leastone of a storage medium, motors, power supply or processor.
 11. Theapparatus of claim 1, wherein at least one of the first rotational axisor the second rotational axis corresponds to a roll axis of the opticalunit.
 12. The apparatus of claim 1, wherein the frame assembly isfurther configured to permit the optical unit to rotate about a thirdrotational axis corresponding to one of a pitch, roll, or yaw axis ofthe optical unit.
 13. The apparatus of claim 1, wherein the inertialmeasurement unit is configured to detect translational movement,rotational movement, or position of the optical unit.
 14. The apparatusof claim 1, wherein a display screen configured to display imagescaptured using the optical unit is not supported by the frame assemblyand does not rotate with the optical unit.
 15. The apparatus of claim13, wherein the inertial measurement unit comprises an inertial sensor.16. (canceled)
 17. The apparatus of claim 1, wherein the compact unitfurther comprises a memory unit configured to store data of imagescaptured using the photosensor or a processor configured to process dataof images captured using the photosensor.
 18. The apparatus of claim 1,wherein the frame assembly is freely rotatable within a range of 360degrees over at least one axis.
 19. The apparatus of claim 1 wherein theframe assembly comprises a first stage connected to and supporting theoptical unit, and a second stage movable relative to the first stage andthe optical unit about the first rotational axis.
 20. The apparatus ofclaim 19 wherein the frame assembly further comprises a third stagemovable relative to the second stage about the second rotational axis.21. The apparatus of claim 1, wherein amount of energy required by themotor assembly to drive the frame assembly is less than that requiredwhen the entire imaging device apparatus as a whole is supported by theframe assembly.
 22. The imaging device of claim 4, wherein thenon-optical unit does not include a lens or a photosensor, and whereinthe non-optical unit is not mechanically coupled to the frame assembly.23. The imaging device of claim 4, wherein a display screen configuredto display images captured using the optical unit is not supported bythe frame assembly, and the display screen does not rotate with theoptical unit.
 24. The imaging device of claim 4, wherein the opticalunit further comprises a weight adapted to provide stability for theoptical unit.
 25. The imaging device of claim 4, wherein the opticalunit is movable about a first rotational axis and a second rotationalaxis via the actuation of the frame assembly, wherein at least one ofthe first rotational axis or the second rotational axis corresponds to apitch, roll or yaw axis of the optical unit.
 26. The imaging device ofclaim 4, wherein the optical unit is movable about a third rotationalaxis, wherein the third rotational axis corresponds to one of a pitch,roll, or yaw axis of the optical unit.
 27. The imaging device of claim4, wherein the non-optical unit of the imaging device comprises at leastone of a storage medium, motors, power supply, or processor.
 28. Theimaging device of claim 4, wherein the inertial measurement unit isconfigured to detect configured to detect translational movement,rotational movement, or position of the optical unit.
 29. An aerialvehicle comprising: a vehicle body; and the apparatus of claim 1attached to the vehicle body.
 30. A method of stabilizing at least aportion of an imaging device that comprises an optical unit and anon-optical unit, said method comprising: providing an apparatus ofclaim 1; supporting the compact unit of the imaging device using a frameassembly without supporting the entire imaging device as a whole,wherein the frame assembly is configured to permit rotation of thecompact unit about at least a first rotational axis and a secondrotational axis, and wherein the optical unit comprises at least a lensand a photosensor that is optically coupled to the lens; and driving theframe assembly using a motor assembly operably connected to the frameassembly, thereby causing rotation of the compact unit about at leastthe first rotational axis or the second rotational axis, without causingrotation of the separate housing (1) not supported by the frame assemblyand (2) containing therein one or more non-optical components selectedfrom the group consisting of a power supply for powering the photosensorand a display.